# RealSense D435i configuration — Jetson Orin Nano Super
#
# Previous Nano 4GB settings (640x480x15, no point cloud) replaced.
# Orin Nano Super has ample Ampere GPU headroom for 848x480x30fps + point cloud.
#
# Reference topics:
#   /camera/color/image_raw               848x480  30 Hz   RGB8
#   /camera/depth/image_rect_raw          848x480  30 Hz   Z16
#   /camera/aligned_depth_to_color/image_raw  848x480  30 Hz  Z16
#   /camera/color/camera_info             848x480  30 Hz
#   /camera/depth/camera_info             848x480  30 Hz
#   /camera/imu                           ~400 Hz  (gyro@400Hz + accel@100Hz fused)
#   /camera/points                        PointCloud2  30 Hz

camera:
  ros__parameters:
    depth_module.profile: "848x480x30"
    rgb_camera.profile:   "848x480x30"

    enable_depth:   true
    enable_color:   true
    enable_infra1:  false
    enable_infra2:  false

    enable_gyro:          true
    enable_accel:         true
    unite_imu_method:     2    # linear_interpolation

    align_depth.enable:   true
    pointcloud.enable:    true    # Orin Ampere GPU handles this without issue

    publish_tf:       true
    tf_publish_rate:  0.0